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23 January 2017 Acceleration analysis of multi-rigid body system and its application for vehicle based stabilized platform system
Xiao Liu, Erjuan Luo, Lei Jia, Bo Liu
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Proceedings Volume 10322, Seventh International Conference on Electronics and Information Engineering; 103220V (2017) https://doi.org/10.1117/12.2266069
Event: Seventh International Conference on Electronics and Information Engineering, 2016, Nanjing, China
Abstract
The traditional representation of acceleration of a rigid body is given in terms of the angular acceleration and linear acceleration of a point attached to the rigid body. Since this representation has no coordinate invariance, the acceleration transformation of a multi-rigid-body system is complicated. In this paper, the physical meaning of the time derivative of a twist is investigated. It reveals that the rigid-body acceleration comprises the angular acceleration and tangent acceleration of a point which is attached to the rigid body and instantaneously coincident with the origin of frame in use. Their composition presents a six-dimensional representation of the rigid-body acceleration, which is verified to be of coordinate invariance. Based on the representation, the transformation of the rigid-body accelerations is performed conveniently, and the corresponding formula of composition accelerations of one rigid body relative to any other bodies in a multi-rigid-body system is presented. The method is then extended to the application of a vehicle stabilized platform system. The method is verified to be effective by analyzing the virtual prototype of the vehicle-based stabilized platform system. This paper builds a bridge for the six-dimensional rigid-body acceleration from theory achievements to practical application.
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Xiao Liu, Erjuan Luo, Lei Jia, and Bo Liu "Acceleration analysis of multi-rigid body system and its application for vehicle based stabilized platform system", Proc. SPIE 10322, Seventh International Conference on Electronics and Information Engineering, 103220V (23 January 2017); https://doi.org/10.1117/12.2266069
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KEYWORDS
Bridges
Inertial navigation systems
Motion measurement
Prototyping
Analytical research
Motion analysis
Robots
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